Manipulator designs

[sanddrag]

The articulated part of our arm was made from either .090 or .125 formed aluminum sheet metal. We had a half inch hole drilled through each side. Then, we bolted titanium (steel would have been fine) flanges with a 1/2" hole and 1/8" keyway over the 1/2" holes in the sheet metal arm. The stationary part of the arm was .125 formed aluminum sheet metal in a U-type shape. This had two 1.125 holes with 1/2" ball bearings epoxied in. The moving part of the arm was placed inside the U shape of the larger stationary part of the arm with a 1/2" steel keyway shaft. The shaft rotated with the articulated part of the arm inside the bearings in the stationary part of the arm. Essentially, when hanging, the whole load of our robot was placed on two 1/2" ball bearings, epoxied in .125 sheet aluminum. It worked great.